Surgical drape cooling

ABSTRACT

A surgical system drape incudes: a sheath having an interior cavity sized to cover a portion of a surgical system manipulator; an adaptor coupled to the sheath and including a manipulator interface and an instrument interface, the manipulator interface configured to couple with a drive interface of the manipulator, the instrument interface being configured to couple with a drive interface of a surgical instrument mounted to the manipulator; and a fluid conduit coupled to the sheath and extending within the interior cavity of the sheath, the fluid conduit configured to receive a flow of cooling fluid at a fluid port and convey the fluid along the interior cavity of the sheath to cool a component of a portion of the manipulator.

TECHNICAL FIELD

This specification generally relates to surgical drapes for use withteleoperated robotic surgical systems. In particular, variousembodiments are directed to surgical drapes that facilitate circulationof cooling fluid proximate a portion of a surgical system manipulator.

BACKGROUND

Minimally invasive medical techniques (e.g., laparoscopy) have been usedto reduce the amount of extraneous tissue which may be damaged duringdiagnostic or surgical procedures, thereby reducing patient recoverytime, discomfort, and deleterious side effects. Such techniques weretraditionally performed manually via a surgeon manipulating varioussurgical instruments within the patient's body but can now byimplemented using teleoperated robotic systems that providetelepresence. Performing minimally invasive surgery with teleoperatedrobotic systems facilitates increased precision and range of motion inmanipulating surgical instruments when compared to manual techniques,but also introduces new challenges. One such challenge is the need toerect a sterility barrier between certain non-sterile portions of thesurgical system (e.g., portions housing the various motors, sensors,encoders, and electrical connections that cannot withstand asterilization process) and the area immediately adjacent the patient.One solution to this particular challenge has been to cover thenon-sterile portions of the system with a sterile drape, leaving asterilized instrument to be manipulated by the system uncovered, so thatit can be easily replaced by another instrument during a surgicalprocedure.

SUMMARY

In one aspect, a surgical system drape incudes: a sheath having aninterior cavity sized to cover a portion of a surgical systemmanipulator; an adaptor coupled to the sheath and including amanipulator interface and an instrument interface, the manipulatorinterface configured to couple with a drive interface of themanipulator, the instrument interface being configured to couple with adrive interface of a surgical instrument mounted to the manipulator; anda fluid conduit coupled to the sheath and extending within the interiorcavity of the sheath, the fluid conduit configured to receive a flow ofcooling fluid at a fluid port and convey the fluid along the interiorcavity of the sheath to cool a component of a portion of themanipulator.

In some examples, the sheath includes an impervious structure havinginterior and exterior surfaces, the interior surface associated with thefluid conduit, and the exterior surface being in a sterile state.

In some examples, the fluid conduit includes a tube attached to aninterior surface of the sheath.

In some examples, the fluid conduit includes a passageway havingopposing continuous edges defined between two seams attaching adjacentlayers of the sheath. In some examples, the sheath includes an outermostlayer, an innermost layer, and a middle layer between the outermost andinnermost layers, and the passageway is formed between the middle layerand the innermost layer. In some examples, the surgical system drapefurther includes a hollow sump pocket formed between the outermost layerand the middle layer.

In some examples, the fluid conduit includes a vent located adjacent theportion of the manipulator and positioned to expel cooling fluidconveyed by the fluid conduit into contact with the manipulator. In someexamples, the vent includes a plurality of apertures distributed along alength of the fluid conduit. In some examples, the plurality of ventapertures is configured to expel more cooling fluid at a first locationalong the length of the fluid conduit than at a second location, thefirst location located at a closer proximity to the adaptor than thesecond location.

In some examples, at least a portion of the sheath includes atubular-shaped structure, and the fluid conduit is arranged in a helicalshape traversing the tubular shape along a length of the sheath.

In some examples, the fluid conduit is configured to provide sufficientstructural support to separate the sheath from a surface of themanipulator covered by the sheath. In some examples, the fluid conduitis configured to inflate in response to internal pressure of flowingcooling fluid and apply a hoop-stress from the internal pressure toprovide the structural support. In some examples, the fluid conduitincludes an outer wall having sufficient strength to provide thestructural support. In some examples, the fluid conduit is arranged toprovide less structural support of the sheath adjacent an articulatingjoint of the manipulator than adjacent a link of the manipulator.

In some examples, the cooling fluid conduit is shaped to engage asurface feature of the manipulator to align the drape with themanipulator.

In some examples, the surgical system drape further includes a guidemember coupled with the sheath, the guide member configured to engage aportion of the manipulator to self-align one or more vents along thefluid conduit with one or more cooling channels on the manipulator.

In another aspect, a computer assisted surgical system includes: arobotically operable surgical manipulator including a manipulator driveinterface; a surgical instrument coupled to the manipulator andincluding an instrument drive interface; and a surgical drape forming asterility barrier between a sterile surgical field and a portion of themanipulator. The drape includes: a sheath having an interior cavitysized to cover the portion of the manipulator to form the sterilitybarrier; an adaptor coupled to the sheath and including a manipulatorinterface and an instrument interface, the manipulator interfaceconfigured to engage the manipulator drive interface, and the instrumentinterface configured to engage the instrument drive interface; and afluid conduit integrated with the sheath and extending within theinterior cavity of the sheath, the fluid conduit configured to receive aflow of cooling fluid at a fluid port and convey the fluid along theinterior cavity of the sheath to cool a component of the manipulator.

In some examples, the fluid conduit includes a vent located adjacent theportion of the manipulator and positioned to expel cooling fluidconveyed by the fluid conduit into contact with the manipulator. In someexamples, the manipulator includes a surface feature configured to routecooling fluid expelled by the vent to the component of the portion ofthe manipulator, the component residing at a remote location within theinterior cavity relative to the vent. In some examples, the manipulatorfurther includes a magnetic alignment member, and the drape furtherincludes a magnetically attractable guide member, such that thealignment member attracts the guide member to facilitate guidedalignment of the vent aperture of the fluid conduit and the surfacefeature of the manipulator.

In some examples, the fluid conduit is configured to provide sufficientstructural support to separate the sheath from a surface of themanipulator covered by the sheath. In some examples, the fluid conduitis configured to inflate in response to internal pressure of flowingcooling fluid and apply a hoop-stress from the internal pressure toprovide the structural support.

In some examples, the surgical system further includes a pressurizedcooling fluid source fluidly coupled to the fluid port and configured tourge the flow of cooling fluid to move along the fluid conduit withsufficient pressure to inflate the fluid conduit.

In some examples, the surgical system further includes a vacuum pressuresource fluidly coupled to the fluid conduit and configured to urge theflow of cooling fluid to move downstream along the fluid conduit awayfrom the fluid port.

In some examples, the manipulator includes a surface feature engagingthe cooling fluid conduit to align the surgical drape with themanipulator. In some examples, the surface feature includes a channelreceiving the fluid conduit.

The details of one or more implementations of the subject matterdescribed in this specification are set forth in the accompanyingdrawings and the description below. Other features, aspects, andadvantages of the subject matter will become apparent from thedescription, the drawings, and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a portion of a teleoperated surgicalsystem.

FIG. 2 is a perspective view of an instrument manipulator carrying asurgical drape.

FIG. 2A is a side view of a surgical instrument including a driveassembly.

FIG. 2B is a bottom view of the drive assembly of FIG. 2A.

FIG. 3 is a perspective exploded view of a surgical drape, an instrumentcarriage, and a spar.

FIG. 4A is a perspective side view of a first example surgical drapehaving a helical fluid conduit.

FIG. 4B is a perspective side view of a second example surgical drapehaving a double-helical fluid conduit.

FIG. 5A is a side view of a portion of a third example surgical drapehaving a fluid conduit arranged in a helical configuration.

FIG. 5B is a side view of a portion of a first example surgicalinstrument manipulator having circumferential and an axial coolingchannels.

FIG. 5C is a side view of the first example manipulator of FIG. 5Bcarrying the third example surgical drape of FIG. 5A.

FIG. 5D is a cross-sectional perspective view of the first examplemanipulator and the third example surgical drape of FIG. 5C taken alongthe plane marked 5-5 in FIG. 5C.

FIG. 5E is a cross-sectional perspective view of the first examplemanipulator of FIGS. 5B and 5C carrying a fourth example surgical drape.

FIG. 6A is a side view of a portion of a fifth example surgical drapehaving a fluid conduit arranged in a helical configuration.

FIG. 6B is a side view of a portion of a second example surgicalinstrument manipulator having a helical cooling channel.

FIG. 6C is a side view of the second example manipulator of FIG. 6Bcarrying the fifth example surgical drape of FIG. 6A.

FIG. 7A is a side view of a portion of a sixth example surgical drapehaving a magnetic member located near an orifice of a helical fluidconduit.

FIG. 7B is a side view of a portion of a third example surgicalinstrument manipulator having a magnetic member located near an axialcooling channel.

FIG. 7C is a side view of the third example manipulator of FIG. 7Bcarrying the sixth example drape of FIG. 7A.

FIG. 8A is a side view of a portion of a seventh example surgical drapehaving a magnetic member co-located with a helical fluid conduit.

FIG. 8B is a side view of a portion of a fourth surgical instrumentmanipulator having a magnetic member located at an intersection point ofcircumferential and axial cooling channels.

FIG. 8C is a side view of the fourth example manipulator of FIG. 8Bcarrying the seventh example surgical drape of FIG. 8A.

One or more of the illustrated elements may be exaggerated to bettershow the features, process steps, and results. Like reference numbersand designations in the various drawings may indicate like elements.

DETAILED DESCRIPTION

Embodiments of the present disclosure relate to surgical drapes for usewith teleoperated robotic surgical systems. In particular, the surgicaldrapes described throughout this disclosure are appropriately configured(e.g., shaped and sized) to cover one or more unsterilized portions of asurgical instrument manipulator in order to inhibit or preventcontamination of a surrounding sterile surgical site. More specifically,the presently-described embodiments are derived from a realization thatcertain conventional surgical drapes have a tendency to snag to theteleoperated instrument manipulator. When a surgical drape snags to anarticulating instrument manipulator, (1) the drape is more susceptibleto failure (e.g., tearing, ripping, puncture) as the manipulator moves,and (2) airflow through the interior of the drape is restricted. Airflow restrictions significantly degrade heat dissipation and lead to theformation of “hot spots” along the manipulator's exterior surfacesduring use. The development of hot spots during a surgical procedure canbe particularly problematic when the instrument manipulator includes oneor more motor-driven joints, such as described in U.S. Pat. No.8,004,229, for example. Accordingly, the present disclosure describescomplementary surgical drapes and surgical instrument manipulatorsequipped with features that inhibit snagging of the drape and/oractively promote heat dissipation along the manipulator.

Minimally invasive surgery can be performed by inserting surgicalinstruments through orifices in a patient's body (e.g., natural orificesor body-wall incisions) and controlling the surgical instruments via aninterface on the outside of the body. In various embodiments of thepresent disclosure, the surgical instruments are teleoperated bysurgeons. Thus, the surgeons do not move the instruments by directphysical contact, but instead control instrument motion from somedistance away by moving master controllers (“masters”). The operatingsurgeon is typically provided with a view of the actual surgical sitevia a visual display, so that the surgeon may remotely perform surgicalmotions on the masters while viewing the surgical site. A controller ofthe surgical system causes the surgical instrument to be moved inaccordance with movement of the masters.

FIG. 1 depicts a patient-side portion 100 of a teleoperated surgicalsystem in accordance with one or more embodiments of the presentdisclosure. Patient-side portion 100 is a robotic system for performingminimally invasive surgery on a patient's body 10 positioned on anoperating table 12. Patient-side portion 100 includes a column 102, asupport assembly 104, an instrument manipulator 112, and an instrumentcarriage 106. In this example, column 102 anchors patient-side portion100 on a floor surface (not shown) proximate operating table 12.However, in other embodiments, the patient-side portion may be mountedto a wall, to the ceiling, to the operating table supporting thepatient's body, or to other operating room equipment.

Support assembly 104 branches radially outward from column 102 to couplewith instrument manipulator 112. Instrument carriage 106 resides at adistal end of instrument manipulator 112. Instrument carriage 106supports a detachable surgical instrument 108. Accordingly, instrumentcarriage 106 includes various actuators and control connections foractively controlling functionality of surgical instrument 108 withinpatient body 10 during a surgical procedure. In particular, theteleoperated actuators housed in instrument carriage 106 provide anumber of controller motions that surgical instrument 108 translatesinto a corresponding variety of movements of the instrument's endeffector.

An entry guide 110 (e.g., a cannula) serves as a surgical port to anorifice of patient body 10 that receives surgical instrument 108 toguide the instrument into the patient. Entry guide 110 may performvarious other functions, such as allowing fluids and other materials topass into or out of the body, and reducing trauma at the surgical siteby isolating at least some motion (e.g., translating movement along aninsertion axis and axial rotation of the instrument shaft) of surgicalinstrument 108 from the body wall.

The term “surgical instrument” is used herein to describe a medicaldevice for insertion into a patient's body and use in performingsurgical or diagnostic procedures. A surgical instrument typicallyincludes an end effector associated with one or more surgical tasks,such as forceps, a needle driver, a shears, a bipolar cauterizer, atissue stabilizer or retractor, a clip applier, an anastomosis device,an imaging device (e.g., an endoscope or ultrasound probe), and thelike. Some surgical instruments used with embodiments of the presentdisclosure further provide an articulated support (sometimes referred toas a “wrist”) for the end effector so that the position and orientationof the end effector can be manipulated with one or more mechanicaldegrees of freedom in relation to the instrument's shaft. Further, manysurgical end effectors include a functional mechanical degree offreedom, such as jaws that open or close, or a knife that translatesalong a path. Surgical instruments may also contain stored information(e.g., on a semiconductor memory inside the instrument) that may bepermanent or may be updatable by the surgical system. Accordingly, thesystem may provide for either one-way or two-way informationcommunication between the instrument and one or more system components.Surgical instruments appropriate for use in one or more embodiments ofthe present disclosure may control their end effectors (surgical tools)with one or more rods and/or flexible cables. In some examples, rods,which may be in the form of tubes, may be combined with cables toprovide a “push/pull” control of the end effector, with the cablesproviding flexible sections as required. A typical elongate shaft for asurgical instrument is small, perhaps five to eight millimeters indiameter. The diminutive scale of the mechanisms in the surgicalinstrument creates unique mechanical conditions and issues with theconstruction of these mechanisms that are unlike those found in similarmechanisms constructed at a larger scale, because forces and strengthsof materials do not scale at the same rate as the size of themechanisms. The rods and cables must fit within the elongate shaft andbe able to control the end effector through the wrist joint.

Referring to FIGS. 1 and 2 , instrument manipulator 112 may be providedin a variety of forms that allow surgical instrument 108 to move withone or more mechanical degrees of freedom (e.g., all six Cartesiandegrees of freedom, five or fewer Cartesian degrees of freedom, etc.).Typically, instrument manipulator 112 is controlled to move surgicalinstrument 108 around a particular remote center of motion that remainsstationary with reference to patient's body 10. This center of motion istypically located proximate where surgical instrument 108 enters patientbody 10 (e.g., at some point along entry guide 110, such as the midpointof the body wall).

In this example, instrument manipulator 112 includes a plurality ofmanipulator links 118, joints 114 situated between adjacent manipulatorlinks 118, and an elongated spar 116. Spar 116 carries and supportsinstrument carriage 106 and entry guide 110. Instrument carriage 106 ismounted to ride along the length of spar 116, while entry guide 110 isheld fixed by a connector 131 at the distal end of spar 116. Note, inthe context of this disclosure, proximal means farther away from thesurgical site (i.e., near support assembly 104), and distal means closerto the surgical site (i.e., near instrument carriage 106). Movement ofinstrument carriage 106 effects identical translating movement ofsurgical instrument 108 through the stationary entry guide 110 along aninsertion axis relative to patient body 10.

Joints 114 facilitate the articulated movement of manipulator links 118to locate surgical instrument 108 at a desired angular orientation withmultiple degrees of freedom (e.g., yaw, pitch, and roll) about theremote center of motion. Furthermore, as described above, thetranslating movement of instrument carriage 106 along spar 116 locatessurgical instrument 108 at a desired insertion point through that centerof motion. Thus, the various teleoperated actuators of instrumentmanipulator 112 move surgical instrument 108 as a whole, while theteleoperated actuators housed within instrument carriage 106 move onlythe instrument's end effector or other individual instrument components.In some examples, movement of joints 114 is constrained to maintain thecenter of motion of manipulator 112 by fixed intersecting axes(hardware-centering). In some other examples, movement of joints 114 isconstrained by software-controlled motors (software-centering). As notedabove, implementations employing the software-centering motor-drivenjoints may especially benefit from embodiments described below thatenhance heat dissipation along instrument manipulator 112.

Referring now to FIGS. 2A and 2B, surgical instrument 108 includes adistal portion 120 and a drive assembly 122 coupled to one another by anelongate shaft 124 defining an internal bore. Drive assembly 122includes a housing 125 supporting an input device 126. Input device 126includes an instrument drive interface 127. The input device facilitatescontrolled adjustment of the instrument's end effector via one or moredrive cables extending along the internal bore of the elongateinstrument shaft.

Drive interface 127 provides mechanical connections to the other controlfeatures of surgical instrument 108. During use, instrument driveinterface 127 couples to a complementary drive interface of instrumentcarriage 106 (e.g., manipulator drive interface 4 shown in FIG. 3 )through an adaptor (e.g., adaptor 220), which allows instrument carriage106 to control surgical instrument 108 in the manner generally describedabove. Distal portion 120 of surgical instrument 108 may provide any ofa variety of surgical tools, such as the forceps 128 shown, a needledriver, a cautery device, a cutting tool, an imaging device (e.g., anendoscope or ultrasound probe), or a multipart device that includes acombination of two or more various tools and imaging devices. Further,in the illustrated embodiment, forceps 128 are coupled to elongate shaft124 by a wrist joint 130, which allows the orientation of the forceps tobe manipulated with reference to the elongate shaft 124.

The bottom view of surgical instrument 108 shown in FIG. 2B illustratesinstrument drive interface 127. As shown, drive interface 127 includes aset of five steering inputs 132, each of which governs a differentaspect of movement by wrist joint 130 and forceps 128. Of course, moreor less steering inputs 132 can be provided in differentimplementations. When drive interface 127 is coupled to instrumentcarriage 106, each of steering inputs 132 interfaces with an actuatorthat drives the steering input. In this example, steering inputs 132 areconfigured to form a direct-drive (i.e., absent speed reduction)mechanical engagement with respective rotary actuators (e.g., servomotors) of instrument carriage 106 through the adaptor. However, othersuitable configurations for power transmission can also be used (e.g.,mechanical couplings including speed and/or torque converters, fluidcouplings, and/or electrical couplings). Each of steering inputs 132 ispart of a drive shaft (not shown) that operates a drive cable (notshown) controlling movement of forceps 128.

Referring back to FIGS. 1 and 2 , patient-side portion 100 furtherincludes a surgical drape 200 covering manipulator 112, including joints114 and spar 116. Surgical drape 200 forms a sterility barrier between asterile surgical field and the unsterilized instrument manipulator 112.In this example, in addition to manipulator 112, drape 200 covers aportion of support assembly 104, extending the sterility barrier topartially shield this component from the sterile field as well. Thepresent disclosure, however, is not limited to any particularconfiguration in this regard. That is, in certain other examples, drape200 may cover only the manipulator 112, only a portion of manipulator112, or may extend to cover a larger portion of support assembly 104. Inany event, components of patient-side portion 100 that are not coveredby drape 200 (e.g., surgical instrument 108, entry guide 110, and partof instrument carriage 106) will generally be sterile. In some examples,one or more of these sterile components are capable of being sterilizedand re-used. In some examples, one or more of these components aredisposable, provided in hermetically sealed packages (e.g., peel-openpouches or sterilization wraps).

As shown in FIG. 2 , surgical drape 200 includes a sheath 201 and afluid conduit 216. Sheath 201 is a flexible, bag-like object having anopening that leads to an interior cavity 203. Interior cavity 203 isappropriately shaped and sized to receive manipulator 112. Sheath 201 isan impervious structure having an interior (i.e., innermost) surface andan exterior (i.e., outermost) surface. During use, the exterior surfaceof sheath 201 is exposed to the sterile surgical field, and, therefore,is provided in a sterile state. Sheath 201 and/or fluid conduit 216 maybe formed from a suitable plastic material (e.g., thermoplasticpolyurethane) or any other flexible material capable of withstanding asterilization process. As such, in some implementations, surgical drape200 may be re-used over multiple surgical procedures followingsterilizations. In other implementations, however, surgical drape 400 isadapted to be sterilized for a single use (e.g., by gamma irradiation).

Fluid conduit 216 is associated with the interior surface of sheath 201,such that fluid conduit 216 extends within interior cavity 203 of sheath201. This means that fluid conduit 216 resides proximate manipulator 112when manipulator 112 is covered by surgical drape 200. In this example,fluid conduit 216 is configured to receive a flow of cooling fluid at afluid port 204. Fluid port 204 is fluidically coupled to a cooling fluidsource (not shown), which may include a reservoir of cooling fluid and apositive pressure source (e.g., a pump) for circulating fluid downstreamto and through fluid conduit 216. The fluid source may reside locallynear the surgical site or at a remote location. In certain otherexamples, the fluid conduit may be fluidically coupled to a vacuumpressure source that draws cooling fluid upstream through the fluidconduit. In any event, fluid conduit 216 conveys cooling fluid along theinterior cavity of sheath 201 to transfer heat generated by one or morecomponents of manipulator 112 (e.g., motor-driven joints 114). In someexamples, the cooling fluid is a gas-phase coolant, such as air,hydrogen, or inert gas. In some other examples, the cooling fluid is aliquid-phase coolant, such as water, oil, freon, or refrigerant. Instill some further examples, the cooling fluid may undergo a phasechange during use.

In some examples, fluid conduit 216 provides sufficient structuralsupport to separate sheath 201 from the surface of manipulator 112. Forinstance, fluid conduit 216 may become inflated in response to internalpressure from the flowing cooling fluid. More specifically, hoop-stressimparted on the outer walls of fluid conduit 216 from the internalpressure of the cooling fluid may initiate inflation, which providesadequate structural support to raise the interior surface of sheath 201above the outer surface of manipulator 112. As another example, theouter wall of fluid conduit 216 may have sufficient strength to providethe requisite structural support (e.g., via its material stiffnessproperties or thickness) absent inflation by the cooling fluid. In someimplementations, it may be advantageous to maintain sheath 201 in aspaced-apart relationship with manipulator 112 in order to inhibit drape200 from snagging to manipulator 112 as it moves and articulates duringa surgical procedure. In some implementations, the fluid conduit can beappropriately designed to provide less structural support adjacent thearticulating joints of the manipulator than adjacent a link of themanipulator so as not to inhibit operation of the joints.

As shown in FIG. 3 , surgical drape 200 further includes an adaptor 220coupled to an end portion of sheath 201. In this example, adaptor 220 ispermanently bonded to sheath 201, but other physical attachmentmechanisms are also contemplated. For example, the adaptor may be fixedto the sheath by mechanical fasteners, adhesives, etc. Adaptor 220provides physical connection point for drape 200, spar 116, and surgicalinstrument 108. This connection point secures sheath 201 in placecovering manipulator 112 during a surgical procedure. In this example,adaptor 220 is provided in the form of a relatively thin plate-like bodyhaving two opposite substantially planar faces. A first face of adaptor220 includes an instrument interface 218, and a second face includes amanipulator interface 222. When the various components are assembled,adaptor 220 is sandwiched between instrument carriage 106 and driveassembly 122 of surgical instrument 108. In the assembled condition, theadaptor's manipulator interface 222 engages a drive interface 134 ofinstrument carriage 106, and the adaptor's instrument interface 218engages drive interface 127 of instrument drive assembly 122. Therespective interfaces 218,222 of adaptor 220 are configured to transfertorque and power from the actuators of instrument carriage 106 tosteering inputs 132 of drive interface 127.

FIGS. 4A and 4B illustrate two example surgical drapes 400 a,400 b inaccordance with various embodiments of the present disclosure. As shown,each of surgical drapes 400 a,b includes a tubular sheath 401 and afluid conduit 416 a,416 b integrated with sheath 401. In these examples,fluid conduit 416 a,b is provided in the form of a separate tubephysically attached to sheath 401. However, in some other examples asuitable fluid conduit may include a passageway formed between two ormore layers of the sheath (see, e.g., FIGS. 5D, 5E, 6D). Fluid conduit416 a,b includes a supply conduit portion 424 extending along theinterior surface of sheath 401 and a return conduit portion 426 a,bextending along the exterior surface of sheath 401. Supply conduitportion 424 receives a flow of cooling fluid from an inlet fluid port(not shown) and conveys the cooling fluid in a downstream direction(i.e., away from the fluid port/source) through the interior cavity ofsheath 401. In each of the illustrated examples, supply conduit portion424 is arranged in a helical configuration. In some implementations, thehelical arrangement is advantageous because it distributes the flow ofcooling fluid evenly throughout the interior cavity of sheath 401.Return conduit portion 426 a,b conveys the cooling fluid in an upstreamdirection towards a fluid return port (not shown). In the example ofFIG. 4A, return conduit portion 426 a is shown extending along theexterior surface of sheath 401, though it can also extend along theinterior surface. Having a return conduit may be particularlyadvantageous in implementations where the ability of the cooling fluidto dissipate heat is exhausted relatively quickly and continued exposureto the instrument manipulator provides little to no added value from aheat-exchange perspective. In the example of FIG. 4B, return conduitportion 426 b is arranged in a helical configuration extending along theinterior surface of sheath 401. This configuration may be advantageousin implementations where the cooling fluid has a relatively highcapacity for dissipating heat, and extended dwell time proximate themanipulator results in increased cooling.

FIGS. 5A-5C illustrate a complementary surgical drape 500 andmanipulator link 518 in accordance with one or more embodiments. FIGS.5A and 5B illustrate drape 500 and manipulator link 518 in isolation;and FIG. 5C illustrates drape 500 covering manipulator link 518. Note,drape 500 is similarly configured to drape 400 a described above withreference to FIG. 4A. Accordingly, drape 500 includes a tubular sheath501 and a fluid conduit 516 arranged in a helical configuration alongthe interior surface of sheath 501. In this example, fluid conduit 516includes a plurality of vents 530 distributed along its length. Vents530 are provided in the form of rounded apertures (e.g., circular oroval-shaped openings) extending through the outer wall defining fluidconduit 516. As the cooling fluid is conveyed through fluid conduit 516,vents 530 expel a portion of the cooling fluid into direct contact withmanipulator link 518. In some implementations, direct contact betweenthe cooling fluid and the manipulator link can enhance the rate anddegree of heat dissipation. In this example, vents 530 are ofapproximately the same shape and size, and are distributed at regularintervals along fluid conduit 516. However, in certain other examples,the shape, size, and distribution density of the vents may vary. Forexample, the vents may have a larger open area or may have a greaterdistribution density proximate locations of the manipulator that tend togenerate a greater amount of heat (e.g., along the spar near theelectro-mechanical components of the instrument carriage, or near themotor-controlled joints). As another example, the shape/size anddistribution density of the vents may be selected to regulate the flowrate of cooling fluid through the fluid conduit.

Manipulator link 518 includes surface features appropriately configuredto route cooling fluid expelled from vents 530 to remote targetedportions of the manipulator (e.g., locations proximate components thatgenerate heat). In this example, the surface features are provided inthe form of a circumferential cooling channel 532 and an axial coolingchannel 534. As shown, circumferential cooling channel 532 runstransverse to the length of manipulator link 518, and axial coolingchannel 534 extends parallel to the lengthwise direction. In certainimplementations, the cooling channels may vary in depth and shape inorder to effectively route cooling fluid to different locations of themanipulator components. As shown in FIG. 5C, when drape 500 coversmanipulator link 518, a subset of vents 530 are aligned withcircumferential and axial cooling channels 532,534. At these locations,cooling fluid is expelled from fluid conduit 516 and routed alongcooling channels 532,534 to remote portions of manipulator link 518.

Referring now to FIG. 5D, in this example, sheath 501 includes threedistinct layers:

an outermost layer 540, a middle layer 538, and an innermost layer 536.Fluid conduit 516 includes a passageway 542 for receiving the flow ofcooling fluid and a hollow sump pocket 544. As shown, passageway 542 isformed by opposing continuous edges defined between two seams 546attaching adjacent layers of sheath 501, namely middle layer 538 andinnermost layer 536. Sump pocket 544 is similarly formed by seams 546between outermost layer 540 and middle layer 538. The co-extensivearrangement of sump pocket 544 and passageway 542 provides a measure ofprotection against contamination of the sterile field. For example, ifmiddle layer 538 is compromised during use (e.g., punctured or torn),sump pocket 544 would receive at least a portion of the cooling fluid,preventing the fluid from escaping into a sterile field. FIG. 5E shows asimilar example, where a drape 500′ features a sheath 501′ made of twolayers, an innermost layer 536′ and an outermost layer 540′, which formthe passageway 542′ for receiving and conveying cooling fluid.

FIGS. 6A-6C illustrate a similar example drape 600 and manipulator link618 as described above with reference to FIGS. 5A-5C. In this example,however, drape 600 includes a sheath 601 supporting a fluid conduit 616having a varying distribution of vents 630. Here, vents 630 aredistributed at a greater density (i.e., spaced more closely together) atthe proximal end of sheath fluid conduit 616 than at its distal end.Further, in this example, manipulator link 618 features a helicalcooling channel 648 that substantially matches the helical configurationof fluid conduit 616. Cooling channel 648 is configured (e.g.,appropriately sized and shaped) to at least partially receive fluidconduit 616. Engaging fluid conduit 616 with cooling channel 648 alignsdrape 600 with manipulator link 618, such that each of the conduit vents630 is permitted to expel cooling fluid directly into cooling channel648. Moreover, because fluid conduit 616 is seated within coolingchannel 648, sheath 601 is placed in closer proximity to manipulatorlink 618 to provide a relatively tight-fitting drape 600. Thetight-fitting drape may be particularly advantageous in certainimplementations where a larger, loose-fitting drape may snag onto otherobjects or structures within the operating room and/or may obscure thefield of view for human users or sensors within the operating room.

FIGS. 7A-7C illustrate yet another example drape 700 and manipulatorlink 718 in accordance with various embodiments of the presentdisclosure. As shown, drape 700 is similar to the prior examples,including a sheath 701 and a fluid conduit 716 having a plurality ofvents 730 extending within the interior of sheath 701. Drape 700 furtherincludes a guide member 750 coupled to the interior surface of sheath701. Manipulator link 718 includes an axial cooling channel 734 forrouting cooling fluid vented from fluid conduit 716 and an aligningmember 752 that is complementary to guide member 750. Guide member 750and aligning member 752 are engageable with one another. For example,one or both of these engageable components may be provided in the formof complementary magnets (or magnetically attractable material),temporary adhesives, quick couplings, hook-and-loop fasteners, or thelike. Further, guide member 750 and aligning member 752 are located onsheath 701 and manipulator link 718 such that their engagement causesvents 730 of fluid conduit 716 to concurrently align with coolingchannel 734. Accordingly, these complementary guiding and aligningfeatures facilitate an improved drape installation procedure by reducingthe installation time and increasing the accuracy of installation.

FIGS. 8A-8C illustrate an example drape 800 and manipulator link 818similar to the prior example described with reference to FIGS. 7A-7C.Similar to drape 700, drape 800 includes a sheath 801, a fluid conduit816, and a guide member 850. However, in this example, fluid conduit 816includes a vent 830 co-located with guide member 850. Accordingly, guidemember 850 is designed to permit the flow vented flow of cooling fluidfrom fluid conduit 816. In this example, guide member 850 includes anorifice that is co-axially located with vent 830. Manipulator link 818includes circumferential cooling channel 832, axial cooling channel 834,and an aligning member 852 residing at the intersection point betweencooling channels 832,834. As described above, guide member 850 andaligning member 852 are appropriately configured to engage one anotherto facilitate the guided alignment of vent 830 and cooling channels832,834.

The use of spatially relative terminology throughout the specificationand claims is for describing the relative positions and/or orientationsof various components of the system and other elements described herein.Unless otherwise stated explicitly, the use of such terminology does notimply a particular position or orientation of the system or any othercomponents relative to the direction of the Earth gravitational force,or the Earth ground surface, or other particular position or orientationthat the system other elements may be placed in during operation,manufacturing, and transportation.

A number of embodiments of the invention have been described.Nevertheless, it will be understood that various modifications may bemade without departing from the spirit and scope of the inventions. Forexample, while the embodiments discussed above featured a single fluidconduit, the present disclosure is not so limited. In other embodiments,the surgical drape may include a plurality of conduits, each associatedwith a respective fluid port and fluid source. In addition, it should beunderstood that various described components and features optionally maybe combined, so that one or more features of one embodiment may becombined with, or substituted for, one or more features of anotherembodiment consistent with the inventive aspects.

What is claimed is: 1-26. (canceled)
 27. A computer assisted surgicalsystem, comprising: a robotically operable surgical manipulatorcomprising a manipulator link and a manipulator drive interface, themanipulator link comprising one or more cooling channels configured toreceive cooling fluid; and a surgical drape forming a sterility barrierbetween a sterile surgical field and a portion of the manipulator, thedrape comprising: a sheath having an interior cavity sized to cover theportion of the manipulator to form the sterility barrier; an adaptorcoupled to the sheath and comprising a manipulator interface and aninstrument interface, the manipulator interface configured to engage themanipulator drive interface, and the instrument interface configured toengage an instrument drive interface of a surgical instrument; and afluid conduit extending within the interior cavity of the sheath, thefluid conduit configured to convey a flow of cooling fluid through theinterior cavity of the sheath and along a length of the one or morecooling channels of the manipulator link to apply cooling fluid directlyto the manipulator link.
 28. The surgical system of claim 27, whereinthe manipulator link further comprises an alignment member, and thesheath of the drape further comprises a complementary guide memberengageable with the alignment member of the manipulator link, such thatthe alignment member engages with the guide member to facilitate guidedalignment of the fluid conduit with the one or more cooling channels ofthe manipulator link.
 29. The surgical system of claim 28, wherein theguide member and the alignment member comprise magnetic attachments. 30.The surgical system of claim 27, wherein the one or more coolingchannels of the manipulator link comprise axial cooling channels. 31.The surgical system of claim 30, wherein the axial cooling channelsextend parallel to a lengthwise direction of the manipulator link. 32.The surgical system of claim 30, wherein the one or more coolingchannels of the manipulator link further comprise circumferentialcooling channels.
 33. The surgical system of claim 32, wherein thecircumferential cooling channels extend transverse to a lengthwisedirection of the manipulator link.
 34. The surgical system of claim 27,wherein the one or more cooling channels of the manipulator linkcomprise helical cooling channels.
 35. The surgical system of claim 27,wherein the fluid conduit comprises a passageway formed between two ormore layers of the sheath.
 36. The surgical system of claim 35, whereinthe passageway comprises one or more vents adjacent the cooling channelsof the manipulator link and positioned to expel cooling fluid conveyedby the fluid conduit into contact with the manipulator along a length ofthe cooling channels.
 37. The surgical system of claim 36, wherein thepassageway of the fluid conduit is arranged in a helical shape along alength of the sheath, and wherein the one or more cooling channels ofthe manipulator link comprise complementary helical cooling channels.38. The surgical system of claim 27, wherein the drape comprises aninlet fluid port coupled to the fluid conduit of the drape, the inletfluid port configured to receive a flow of cooling fluid, and whereinfluid conduit conveys the cooling fluid in a downstream direction awayfrom the inlet fluid port through the interior cavity of the sheath andalong a length of the one or more cooling channels of the manipulatorlink.
 39. The surgical system of claim 38, wherein the drape furthercomprises a return conduit portion configured to convey the coolingfluid in an upstream direction towards a fluid return port.
 40. Thesurgical system of claim 27, wherein the fluid conduit is configured toprovide sufficient structural support to separate the sheath from asurface of the manipulator link covered by the sheath.
 41. The surgicalsystem of claim 40, wherein the fluid conduit is configured to inflatein response to internal pressure of flowing cooling fluid and apply ahoop-stress from the internal pressure to provide the structuralsupport.
 42. The surgical system of claim 41, further comprising apressurized cooling fluid source fluidly coupled to a fluid port andconfigured to urge the flow of cooling fluid to move along the fluidconduit with sufficient pressure to inflate the fluid conduit.
 43. Thesurgical system of claim 27, further comprising a vacuum pressure sourcefluidly coupled to the fluid conduit and configured to urge the flow ofcooling fluid to move downstream along the fluid conduit away from afluid port.
 44. A robotically operable surgical manipulator comprising:a joint; a manipulator link movably coupled to the joint; and one ormore cooling channels defined by a surface of the manipulator link, theone or more cooling channels configured to receive cooling fluid toapply the cooling fluid directly the manipulator link.
 45. Therobotically operable surgical manipulator of claim 44, wherein the oneor more cooling channels of the manipulator link comprise axial coolingchannels.
 46. The robotically operable surgical manipulator of claim 44,wherein the one or more cooling channels of the manipulator link furthercomprise circumferential cooling channels.